The actor said he's had unprotected sex since his diagnosis, but that "the two people I did that with were under the care of my doctor and they were completely warned ahead of time."

The AIDS Healthcare Foundation (AHF), the world’s largest AIDS organization, said HIV is transmitted through having sex without a condom, sharing needles or syringes and by pregnancy, childbirth or breastfeeding.

"The old adage holds true that it’s better to be safe than sorry," said AHF Chief of Medicine Dr. Michael Wohlfeiler. "Even relying on the word of someone who says they are ‘undetectable’ is risky because a lot of people are not adherent to the daily pill regimens—especially those who are struggling with addiction. It’s truly a shame that people have gotten themselves in trouble in a variety of different ways because they did not take the simple and easy precaution of using a condom.”

Sheen said he hopes by going public with the diagnosis he will help other people with HIV.

He has made few public appearances since his show "Anger Management" went off the air in December 2014. Sheen appeared on television most recently when he reprised his "Ferris Bueller's Day Off" role for the ABC sitcom, "The Goldbergs," in February.

Sheen said Tuesday he was on the “triple cocktail” of HIV medications and that he was not doing drugs but was still drinking a little bit.